I know you posted this in multiples but you may find advice in "life with a babe"http://www.mothering.com/community/f/32/life-with-a-babe . I say this because my son was exactly the same way from day one. I let him sleep on top until it just got too much. I was worried he'd fall or I 'droll over on him because I was so sleep deprived. And dh was not able to help. Well, when he fell asleep I kept pulling my nipple out and he finally he stopped. We also got he hang of co-sleeping but it did take some time...maybe a year. He refused to sleep anywhere else but our bed. Now, at 2 I absolutely love sleeping in the same bed with him. It was definitely a challenge at the beginning.*hugs* to you. It will get better!!
Anyone else?? I think I rambled.
Oh mama ... I feel ya!
My girls did that for what seemed like FOREVER! Well, sometimes they still do at 2!
What type of sleeping positions do you currently use? Every situation/mom/babes are unique. For us, I slept (and still do) on a queen size mattress that is on the floor (sans DH ). At that age, I would find a way to prop myself up comfortably (neck pillows were a lifesaver!), used a boppy pillow to nurse, and had pillows propping the babies up to my sides for football holds (and had a barricade to the open side of the bed to prevent rolling off the mattress). Clearly this wouldn't solve the sleeping ON you predicament. My girls REFUSED to sleep any other way as well, until they were accepting of nursing with me laying on my back slightly propped up and laying to my sides in modified cradle holds. No daddy consoling on my end either - always wanted mama ... and to nurse!
It can be incredibly draining (and hard on your body!) - but I found that mine went through stages. Teething was always worse. And I just sort of gave up trying to get them off of me when it was too tiring to have them whine and cry when I attempted different positions or stopping nursing.
I hope you can find a solution that works for all of you that isn't too difficult to achieve. It does get better! Sending those babes some sweet sleeping vibes!!
Rock on for staying so dedicated to those little ones! It's hard and takes a lot of work, so remember how amazing you are!